Merge pull request #78 from ISSUIUC/commanding-merge-fix

mpkarpov-ui · web-flow · commit d405bce35bfe · 2025-02-02T03:07:18.000-06:00
Merge fix for commanding flight
diff --git a/MIDAS/src/finite-state-machines/fsm.cpp b/MIDAS/src/finite-state-machines/fsm.cpp
@@ -167,7 +167,7 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla
 
         case FSMState::STATE_BURNOUT:
             // if low acceleration is too brief than go on to the previous state
-            if ((state_estimate.acceleration >= sustainer_coast_detection_acceleration_threshold) && ((current_time - burnout_time) < sustainer_first_boost_to_burnout_time_threshold)) {
+            if ((state_estimate.acceleration >= sustainer_coast_detection_acceleration_threshold) && ((current_time - burnout_time) < sustainer_coast_time)) {
                 state = FSMState::STATE_FIRST_BOOST;
                 break;
             }
diff --git a/MIDAS/src/hardware/Orientation.cpp b/MIDAS/src/hardware/Orientation.cpp
@@ -210,7 +210,6 @@ Orientation OrientationSensor::read()
         if (initial_flag == 0)
         {
             initial_orientation = sensor_reading;
-            initial_quaternion = quat;
             initial_flag = 1;
         }
       

Original file line number	Diff line number	Diff line change
`@@ -167,7 +167,7 @@ FSMState FSM::tick_fsm(FSMState& state, StateEstimate state_estimate, CommandFla`
`167`	`167`
`168`	`168`	`case FSMState::STATE_BURNOUT:`
`169`	`169`	`// if low acceleration is too brief than go on to the previous state`
`170`		`- if ((state_estimate.acceleration >= sustainer_coast_detection_acceleration_threshold) && ((current_time - burnout_time) < sustainer_first_boost_to_burnout_time_threshold)) {`
	`170`	`+ if ((state_estimate.acceleration >= sustainer_coast_detection_acceleration_threshold) && ((current_time - burnout_time) < sustainer_coast_time)) {`
`171`	`171`	`state = FSMState::STATE_FIRST_BOOST;`
`172`	`172`	`break;`
`173`	`173`	`}`
Original file line number	Diff line number	Diff line change
`@@ -210,7 +210,6 @@ Orientation OrientationSensor::read()`
`210`	`210`	`if (initial_flag == 0)`
`211`	`211`	`{`
`212`	`212`	`initial_orientation = sensor_reading;`
`213`		`- initial_quaternion = quat;`
`214`	`213`	`initial_flag = 1;`
`215`	`214`	`}`
`216`	`215`